CN110231637B - Satellite selection method, server and computer storage medium - Google Patents
Satellite selection method, server and computer storage medium Download PDFInfo
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- CN110231637B CN110231637B CN201810178101.6A CN201810178101A CN110231637B CN 110231637 B CN110231637 B CN 110231637B CN 201810178101 A CN201810178101 A CN 201810178101A CN 110231637 B CN110231637 B CN 110231637B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
- G01S19/28—Satellite selection
Abstract
The embodiment of the invention discloses a satellite selection method, which comprises the following steps: the method comprises the steps of receiving satellite observation data from a first measuring station and satellite observation data from a second measuring station, selecting public satellites belonging to the first measuring station and the second measuring station from the satellite observation data of the first measuring station and the satellite observation data of the second measuring station, selecting the public satellites with the satellite observation data being larger than or equal to a preset satellite observation data threshold value from the public satellites, delaying the selected public satellites, and selecting a target satellite from the delayed public satellites. The embodiment of the invention also discloses a server and a computer storage medium.
Description
Technical Field
The present invention relates to satellite selection technologies, and in particular, to a satellite selection method, a server, and a computer storage medium.
Background
At present, a base station antenna working parameter monitoring device can intelligently and accurately monitor working parameters such as an azimuth angle, a downward inclination angle, a longitude and latitude, an altitude and the like of a base station antenna, and remote intelligent acquisition and management of antenna working parameter information are achieved, wherein a satellite navigation technology is required to be used for monitoring the azimuth angle, the longitude and latitude and the altitude of the antenna, particularly a carrier phase differential technology (RTK) in a high-precision satellite navigation positioning system is used for acquiring the azimuth angle, and the RTK can obtain centimeter-level positioning precision in Real Time in the field.
The most basic condition of positioning measurement in a high-precision satellite navigation positioning system is that the satellite observation quantity with considerable precision plays a decisive role in positioning results in the satellite navigation positioning system, the positioning scheme of the traditional high-precision satellite navigation system has high cost, and the precision of the observation quantity per se can be better ensured, however, in antenna working parameter monitoring equipment based on low cost, the condition of influencing the quality of the observation quantity such as pseudo range, carrier phase and the like is very complex.
In positioning measurement in a high-precision satellite navigation positioning system, a general satellite selection method selects satellites according to set threshold values of all indexes based on basic satellite observation quantity indexes, although the method has better universality and can be generally used for various receivers, the filtering effect is single, rough differences cannot be accurately eliminated in specific application scenes, particularly for low-cost schemes, the observation conditions are poor, the environment is complex, and the traditional satellite selection method is very limited; therefore, the existing satellite selection method has a single filtering effect and influences the positioning accuracy in the satellite navigation positioning system.
Disclosure of Invention
In view of the above, embodiments of the present invention are intended to provide a satellite selection method, a server, and a computer storage medium, which are used to improve positioning accuracy in a satellite navigation positioning system.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides a method for selecting a satellite, including: receiving satellite observation data from a first measuring station and satellite observation data from a second measuring station, selecting public satellites belonging to the first measuring station and the second measuring station from the satellite observation data of the first measuring station and the satellite observation data of the second measuring station, selecting the public satellites with the satellite observation data being larger than or equal to a preset satellite observation data threshold value from the public satellites, delaying the selected public satellites, and selecting a target satellite from the delayed public satellites.
Further, the preset satellite observation data threshold value includes: correspondingly, selecting a public satellite with satellite observation data greater than or equal to a preset satellite observation data threshold value from the public satellites according to a satellite elevation angle threshold value or a satellite signal-to-noise ratio threshold value, and the method comprises the following steps: and selecting public satellites with satellite elevation angles larger than or equal to the satellite elevation angle threshold value from the public satellites, or selecting public satellites with satellite signal-to-noise ratios larger than or equal to the satellite signal-to-noise ratio threshold value from the public satellites.
Further, the preset satellite observation data threshold value includes: correspondingly, selecting a public satellite with satellite observation data more than or equal to a preset satellite observation data threshold value from the public satellites according to the satellite elevation threshold value and the satellite signal-to-noise ratio threshold value, and the method comprises the following steps: and selecting public satellites with satellite elevation angles larger than or equal to the satellite elevation angle threshold value from the public satellites, and selecting public satellites with satellite signal-to-noise ratios larger than or equal to the satellite signal-to-noise ratio threshold value from the public satellites with satellite elevation angles larger than or equal to the satellite elevation angle threshold value.
Further, the delaying the selected public satellite includes: determining delay time according to the number of the selected public satellites; according to the delay time, delaying the public satellite with unstable operation state in the selected public satellite; forming the delayed public satellite by using the delayed unstable public satellite and the public satellite except the delayed unstable public satellite in the selected public satellite; the public satellite with unstable operation state refers to a public satellite with tracking time less than or equal to a preset time period.
Further, the determining a delay time according to the number of the selected public satellites includes: if the number of the selected public satellites is larger than or equal to a first preset threshold value, determining the delay time as a first preset delay time; if the number of the selected public satellites is smaller than a first preset threshold and larger than a second preset threshold, determining the delay time as a second preset delay time; and if the number of the selected public satellites is smaller than or equal to a second preset threshold value, determining the delay time as a third preset delay time.
Further, the selecting a target satellite from the delayed public satellites includes: and if the geosynchronous orbit GEO satellite exists in the delayed public satellite and the public satellite except the GEO satellite in the delayed public satellite meets a preset condition, deleting the GEO satellite from the delayed public satellite and determining the rest public satellite after deletion as the target satellite.
Further, the public satellites except the GEO satellite in the delayed public satellites meet a preset condition, including: and if the number of the satellites under the Beidou satellite system in the delayed public satellites except the GEO satellites is larger than or equal to a third preset threshold value, and the number of the public satellites except the GEO satellites in the delayed public satellites is larger than or equal to a fourth preset threshold value.
In a second aspect, an embodiment of the present invention provides a server, where the server includes a processor, a memory, and a communication bus; the communication bus is used for realizing connection communication between the processor and the memory; the processor is used for executing a satellite selection program stored in the memory so as to realize the following steps:
receiving satellite observations from a first survey station and satellite observations from a second survey station; selecting a common satellite belonging to the first measuring station and the second measuring station from the satellite observation data of the first measuring station and the satellite observation data of the second measuring station; selecting a public satellite with satellite observation data larger than or equal to a preset satellite observation data threshold value from the public satellites; delaying the selected public satellite; and selecting a target satellite from the delayed public satellites.
Further, the preset satellite observation data threshold value includes: a satellite elevation threshold or a satellite signal-to-noise threshold; selecting public satellites with satellite observation data larger than or equal to a preset satellite observation data threshold value from the public satellites, wherein the processor is used for executing a satellite selection program stored in the memory so as to realize the following steps: selecting a public satellite with a satellite elevation angle greater than or equal to the satellite elevation angle threshold value from the public satellites; or selecting the public satellite with the satellite signal-to-noise ratio being more than or equal to the satellite signal-to-noise ratio threshold value from the public satellites.
Further, the preset satellite observation data threshold value includes: the processor is used for executing a satellite selection program stored in the memory so as to realize the following steps: selecting a public satellite with a satellite elevation angle greater than or equal to the satellite elevation angle threshold value from the public satellites; and selecting the public satellite with the satellite signal-to-noise ratio being larger than or equal to the satellite signal-to-noise ratio threshold value from the public satellites with the satellite elevation angle being larger than or equal to the satellite elevation angle threshold value.
Further, in the public satellite selected by delaying, the processor is configured to execute a satellite selection program stored in the memory to implement the following steps: determining delay time according to the number of the selected public satellites; according to the delay time, delaying the public satellite with unstable operation state in the selected public satellite; forming the delayed public satellite by using the delayed unstable public satellite and the public satellite except the delayed unstable public satellite in the selected public satellite; the public satellite with unstable operation state refers to a public satellite with tracking time less than or equal to a preset time period.
Further, in the determining of the delay time according to the number of the selected public satellites, the processor is configured to execute a satellite selection program stored in the memory to implement the following steps: if the number of the selected public satellites is larger than or equal to a first preset threshold value, determining the delay time as a first preset delay time; if the number of the selected public satellites is smaller than a first preset threshold and larger than a second preset threshold, determining the delay time as a second preset delay time; and if the number of the selected public satellites is smaller than or equal to a second preset threshold value, determining the delay time as a third preset delay time.
Further, the processor is configured to execute a satellite selection program stored in the memory to realize the following steps: and if the geosynchronous orbit GEO satellite exists in the delayed public satellite and the public satellite except the GEO satellite in the delayed public satellite meets a preset condition, deleting the GEO satellite from the delayed public satellite and determining the rest public satellite after deletion as the target satellite.
Further, in a case that the delayed public satellites except for the GEO satellite satisfy a preset condition, the processor is configured to execute a satellite selection program stored in the memory, so as to implement the following steps: and if the number of the satellites under the Beidou satellite system in the delayed public satellites except the GEO satellites is larger than or equal to a third preset threshold value, and the number of the public satellites except the GEO satellites in the delayed public satellites is larger than or equal to a fourth preset threshold value.
In a third aspect, an embodiment of the present invention provides a computer storage medium, where computer-executable instructions are stored in the computer storage medium, and the computer-executable instructions are configured to perform the satellite selection method provided in one or more embodiments above.
The embodiment of the invention provides a satellite selection method, a server and a computer storage medium, wherein the method comprises the following steps: firstly, selecting public satellites belonging to a first measuring station and a second measuring station from received satellite observation data from the first measuring station and satellite observation data from the second measuring station, secondly, selecting public satellites with satellite observation data larger than or equal to a preset satellite observation data threshold value from the public satellites, and then obtaining the selected public satellites on the basis, wherein the selected public satellites are delayed in order to prevent the public satellites with unstable operation states from influencing satellite positioning accuracy, and a target satellite is selected from the delayed public satellites; that is to say, in the embodiment of the present invention, in the conventional satellite selection method, the public satellite whose operation state is unstable can be in a stable state after being delayed by delaying the selected public satellite, and finally, the target satellite is selected from the delayed public satellites, so that the public satellite is in a stable state by delaying the selected public satellite, and the positioning accuracy in the satellite navigation positioning system can be further improved.
Drawings
Fig. 1 is a schematic flow chart illustrating an alternative method for selecting a satellite according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a first example of a satellite selection method according to an embodiment of the invention;
FIG. 3 is a flowchart illustrating a second example of a satellite selection method according to an embodiment of the invention;
FIG. 4 is a flowchart illustrating a third example of a satellite selection method according to an embodiment of the invention;
FIG. 5 is a schematic structural diagram of a server according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a computer storage medium in an embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
An embodiment of the present invention provides a method for selecting a satellite, where the method may be applied to a server, and fig. 1 is a schematic flow diagram of an alternative method for selecting a satellite in an embodiment of the present invention, and as shown in fig. 1, the method for selecting a satellite may include:
s101: receiving satellite observations from a first survey station and satellite observations from a second survey station;
the first measurement station and the second measurement station may be a reference station or a mobile station, and the embodiments of the present invention are not limited in this respect.
At present, the reference station antenna working parameter monitoring equipment can intelligently and accurately monitor working parameters such as an azimuth angle, a downward inclination angle, a longitude and latitude, an altitude and the like of a base station antenna, the monitored antenna working parameter data is uploaded according to an AISG (antenna Interface Standards group) protocol, the integrity and the stability of the antenna working parameter data are ensured, and the remote intelligent acquisition and management of the antenna working parameter data in an Operation and Maintenance Center (OMC) are realized.
The azimuth angle, the longitude and the latitude and the altitude of the monitoring antenna all need to use a satellite navigation technology, particularly, the acquisition of the azimuth angle is realized by using RTK in high-precision satellite navigation positioning, the RTK is a difference method for processing observed quantities of carrier phases of two measuring stations in real time, the first measuring station is assumed to be a reference station, the second measuring station is assumed to be a user receiver, when the user receiver is positioned, the carrier phases acquired by the reference station are sent to the user receiver, the difference is calculated to calculate coordinates, the position of the user receiver can be accurately positioned, and therefore, the RTK can obtain centimeter-level positioning precision in real time in the field.
The observation data of the satellite may include: ephemeris data of a satellite, an altitude cutoff angle of the satellite, signal strength of the satellite, double-differenced pseudorange observation data of the satellite, an observation matrix of the satellite, and the like, but the embodiments of the invention are not limited thereto.
S102: selecting a public satellite belonging to the first measuring station and the second measuring station from the satellite observation data of the first measuring station and the satellite observation data of the second measuring station;
in order to determine the target satellite, a common satellite belonging to the first measurement station and the second measurement station needs to be selected first, and in a specific implementation process, S102 may include:
selecting a satellite with a complete ephemeris data label, a height cut-off angle falling within a preset angle range and a signal intensity falling within a preset signal intensity range from satellite observation data of a first measuring station;
and selecting the satellites with complete labels of the ephemeris data, height cut-off angles falling within a preset angle range and signal strength falling within a preset signal strength range from the satellite observation data of the second measuring station.
From the selected satellites, a common satellite belonging to the first and second survey stations is selected.
Specifically, for the reference station, from the satellite observation data of the reference station, the tag of the ephemeris data in the satellite observation data of the reference station is checked first, if the tag of the ephemeris data is incomplete, the satellite is discarded, if the tag of the ephemeris data is complete, whether the altitude cutoff angle of the satellite falls within a preset angle range is compared, if the altitude cutoff angle of the satellite does not fall within the preset angle range, the satellite is discarded, if the altitude cutoff angle of the satellite falls within the preset signal intensity range is compared, if the altitude cutoff angle of the satellite does not fall within the preset angle range, the satellite is discarded, if the altitude cutoff angle of the satellite falls within the preset angle range is checked, whether the satellite belongs to a common satellite of the reference station and the mobile station is checked, if the satellite belongs to the common satellite, the common satellite is selected.
Similarly, for the mobile station, from the satellite observation data of the mobile station, the tag of the ephemeris data in the satellite observation data of the mobile station is checked first, if the tag of the ephemeris data is incomplete, the satellite is discarded, if the tag of the ephemeris data is complete, whether the altitude cutoff angle of the satellite falls within a preset angle range is compared, if not, the satellite is discarded, if so, whether the signal intensity of the satellite falls within a preset signal intensity range is compared, if not, the satellite is discarded, if so, whether the satellite belongs to a common satellite of the reference station and the mobile station is checked, if so, the common satellite is selected, and if not, the satellite is discarded.
So far, more than one public satellite is selected.
S103: selecting a public satellite with satellite observation data larger than or equal to a preset satellite observation data threshold value from the public satellites;
in order to screen out a public satellite meeting the requirement, a conventional satellite selection strategy is to search from the public satellite, fig. 2 is a schematic flow chart of a first example of a satellite selection method in the embodiment of the present invention, and fig. 2 is a schematic flow chart of an example of a conventional satellite selection strategy, a first measurement station is a reference station, a second measurement station is a mobile station, wherein a server is preset with a reference station satellite elevation threshold value and a mobile station satellite elevation threshold value, in this example, the reference station satellite elevation threshold value and the mobile station satellite elevation threshold value are both set to 15 degrees, the reference station satellite signal-to-noise ratio threshold value and the mobile station satellite signal-to-noise ratio threshold value are both set to 30dBhz, and the conventional satellite selection strategy is implemented as follows:
s201: the server captures and tracks observation data of the satellite through a baseband module in the receiver;
s202: the reference station sends the satellite observation data of the reference station to a server, and the mobile station sends the satellite observation data of the mobile station to the server;
s203: the server finds a common satellite of the reference station and the mobile station based on the satellite observation data of the reference station and the satellite observation data of the mobile station, wherein the finding of the common satellite is to find all satellites that are present in the reference station and the mobile station at the same time.
After the public satellite is selected, comparing the satellite observation data of the public satellite at the reference station with the satellite observation data of the preset reference station, comparing the satellite observation data of the public satellite at the mobile station with the satellite observation data of the preset mobile station, and selecting the public satellite of which the satellite observation data of the reference station is greater than or equal to the satellite observation data of the preset reference station and the satellite observation data of the mobile station is greater than or equal to the satellite observation data of the preset mobile station.
In an alternative embodiment, the preset satellite observation data threshold value includes: a satellite elevation threshold or a satellite signal-to-noise threshold; s103 may include:
selecting a public satellite with the satellite elevation angle larger than or equal to a satellite elevation angle threshold value from the public satellites;
or selecting the public satellite with the satellite signal-to-noise ratio being larger than or equal to the satellite signal-to-noise ratio threshold value from the public satellites.
In practical application, the satellite elevation angle of the reference station is compared with the satellite elevation angle threshold value of the reference station, the satellite elevation angle of the mobile station is compared with the satellite elevation angle threshold value of the mobile station, and after comparison, the satellite elevation angle of the reference station is selected to be larger than or equal to the satellite elevation angle threshold value of the reference station, and the satellite elevation angle of the mobile station is larger than or equal to the public satellite which is the satellite elevation angle threshold value of the mobile station.
Or comparing the satellite signal-to-noise ratio of the reference station with the satellite signal-to-noise ratio threshold value of the reference station, comparing the satellite signal-to-noise ratio of the mobile station with the satellite signal-to-noise ratio threshold value of the mobile station, and selecting the public satellite of which the satellite signal-to-noise ratio of the reference station is greater than or equal to the satellite signal-to-noise ratio threshold value of the reference station and the satellite signal-to-noise ratio of the mobile station is greater than or equal to the satellite.
In an alternative embodiment, the preset satellite observation data threshold value includes: a satellite elevation threshold value and a satellite signal-to-noise ratio threshold value; s103 may include:
selecting a public satellite with the satellite elevation angle larger than or equal to a satellite elevation angle threshold value from the public satellites;
and selecting the public satellite with the satellite signal-to-noise ratio being larger than or equal to the satellite signal-to-noise ratio threshold value from the public satellites with the satellite elevation angle being larger than or equal to the satellite elevation angle threshold value.
In practical application, as shown in fig. 2, after S203, S204: the server compares the satellite elevation angle of the reference station with the satellite elevation angle threshold value of the reference station, compares the satellite elevation angle of the mobile station with the satellite elevation angle threshold value of the mobile station, and selects the public satellite of which the satellite elevation angle of the reference station is greater than or equal to the satellite elevation angle threshold value of the reference station and the satellite elevation angle of the mobile station is greater than or equal to the satellite elevation angle threshold value of the mobile station after comparison.
Then, comparing the satellite signal-to-noise ratio of the reference station with the satellite signal-to-noise ratio threshold value of the reference station, comparing the satellite signal-to-noise ratio of the mobile station with the satellite signal-to-noise ratio threshold value of the mobile station, and selecting the public satellite of which the satellite signal-to-noise ratio of the reference station is greater than or equal to the satellite signal-to-noise ratio threshold value of the reference station and the satellite signal-to-noise ratio of the mobile station is greater than or equal to the satellite signal-to-noise ratio threshold value of the.
In this way, the conventional satellite selection strategy is completed.
S104: delaying the selected public satellite;
in practical application, for a satellite which is just received, the correlation performance of the satellite is not in the optimal state at the initial acquisition stage, a certain time is needed to reach a stable state, the accuracy of the acquired satellite observation data is relatively poor, the satellite observation data can be continuously tracked and output smoothly after being acquired by the satellite under an ideal state, however, in a complex scene, the satellite is out-of-lock and recaptured frequently, so that a plurality of satellites are often in an unstable state at the initial acquisition stage, a satellite delay use strategy is designed for the situation, and the strategy is designed based on the characteristic of baseband acquisition and participates in high-accuracy positioning and orientation calculation after a preset delay time.
To implement the delay for the common satellite such that the common satellite reaches the steady state, in an alternative embodiment, S104 may include:
determining delay time according to the number of the selected public satellites;
according to the delay time, delaying the public satellite with unstable operation state in the selected public satellite;
and forming the delayed public satellite by using the delayed unstable public satellite and the selected public satellite except the delayed unstable public satellite.
The delay time is different for different numbers of public satellites, where the corresponding relationship between the number of different public satellites and the delay time may be preset, and then the corresponding delay time is determined according to the number of the selected public satellites, and the corresponding relationship between the number interval of different public satellites and the delay time may also be set, and then the corresponding delay time is determined according to the number interval in which the number of the selected public satellites falls, where this is not specifically limited in the embodiments of the present invention.
After the delay time is determined, delaying is performed on a public satellite with an unstable operation state according to the delay time, wherein the public satellite with the unstable operation state refers to a public satellite with a tracking time less than or equal to a preset time period, and the shorter the tracking time is, the satellite is in an initial acquisition stage, and the satellite needs to be delayed to be in a stable state.
After the delay of the satellite with unstable operation state, the delayed common satellite may be combined with the selected common satellite except the delayed common satellite to form a delayed common satellite.
In order to determine the delay times corresponding to different numbers of common satellites, in an alternative embodiment, determining the delay time according to the number of the selected common satellites may include:
if the number of the selected public satellites is larger than or equal to a first preset threshold value, determining the delay time as a first preset delay time;
if the number of the selected public satellites is smaller than a first preset threshold and larger than a second preset threshold, determining the delay time as a second preset delay time;
and if the number of the selected public satellites is less than or equal to a second preset threshold value, determining the delay time as a third preset delay time.
Here, three number sections are set in advance, and after determining the number section in which the number of the selected common satellites falls, the corresponding delay time is determined according to the number section that falls.
Fig. 3 is a schematic flowchart of a second example of a satellite selection method in an embodiment of the present invention, where the satellite selection method is implemented by the following steps:
s301: the server captures and tracks the satellite observation data through a baseband module of the receiver;
s302: the server obtains the selected public satellite according to a conventional satellite selection strategy;
s303: the server delays the selected public satellites according to a satellite delay use strategy, and determines delay time according to the number of the selected public satellites;
s304: if the number of the selected public satellites is larger than or equal to a first preset threshold value, the fact that a large number of public satellites exist at the moment is indicated, and the server determines that the corresponding delay time is the first preset delay time;
s305: if the number of the selected public satellites is smaller than the first preset threshold and larger than the second preset threshold, the fact that the public satellites with the common number exist at the moment is indicated, and the server determines that the corresponding delay time is the second preset delay time;
s306: if the number of the selected public satellites is smaller than or equal to a second preset threshold value, the fact that a small number of public satellites exist at the moment is indicated, and the server determines that the corresponding delay time is a third preset delay time.
S307: the server calculates the delay time through a delay counter;
s308: and the server judges whether the current satellite count value corresponds to the delay time or not, and finishes the satellite delay use strategy when the determined delay time is reached.
As can be seen from fig. 3, the satellite delay use strategy is after a conventional satellite selection strategy, and a threshold value for delay use can be dynamically selected according to the number of currently tracked satellites, generally for a single system, high-precision positioning and orientation are required to be performed while observing at least 5 or more public satellites, when the number of the public satellites reaches 8 or more, it is considered that there are more public satellites, when the number of the public satellites reaches 12 or more, it is considered that there are more public satellites, and an interval range generally selected by delay time is 5-30 seconds (if the observed quantity is output according to a frequency of 1 Hz), which can be specifically determined according to the situation of an actual scheme.
For example, the delay time is 30s when the number of the common satellites is 12, 15s when the number of the common satellites is 10, and 5s when the number of the common satellites is 8.
S105: and selecting a target satellite from the delayed public satellites.
The traditional high-precision satellite navigation Positioning is calculated based on multi-frequency point observed quantity, and for an antenna parameter monitoring project which is low in cost and wide in coverage, only single-frequency point observed quantity can be received, but a Global Positioning System (GPS) and a Beidou System can be covered, namely, the two systems are adopted, so that the stability of a result can be improved only by utilizing the two systems to simultaneously solve.
Then, in the beidou system and the GPS system, in order to select a target satellite in the dual system, a beidou Geosynchronous Orbit (GEO) satellite selection strategy is used, and in an alternative embodiment, S105 may include:
and if the GEO satellite exists in the delayed public satellite and the public satellite except the GEO satellite in the delayed public satellite meets the preset condition, deleting the GEO satellite from the delayed public satellite and determining the rest public satellite after deletion as the target satellite.
In an alternative embodiment, the step of satisfying the preset condition by the public satellite other than the GEO satellite in the delayed public satellite may include:
and if the number of the satellites under the Beidou satellite system in the delayed public satellites except the GEO satellites is larger than or equal to a third preset threshold value, and the number of the public satellites except the GEO satellites in the delayed public satellites is larger than or equal to a fourth preset threshold value.
Fig. 4 is a schematic flowchart of a third example of a satellite selection method in the embodiment of the present invention, as shown in fig. 4, a satellite in the beidou system may include a GEO satellite, a Medium Earth Orbit (MEO) satellite, and an induced Geosynchronous Orbit (IGSO) satellite, where a beidou GEO satellite selection strategy is a strategy specifically performed for the beidou system, and is applied to a dual-system RTK algorithm, because of some special factors of the system, an observation accuracy of the GEO satellite in the beidou system received by a baseband chip is relatively poor, and particularly, such an error may be further amplified in a complex scene, based on such a situation, and according to the number of current satellites, a beidou GEO satellite selection strategy is designed, and a specific implementation manner is shown in fig. 4:
s401: the server captures gunn satellite observation data through the baseband meter of the receiver;
s402: the server selects a public satellite according to a conventional satellite selection strategy;
s403: the server delays the selected public satellite according to a satellite delay use strategy;
s404: the server uses the Beidou GEO satellite selection strategy after a conventional satellite selection strategy and a satellite delayed use strategy, and can dynamically determine whether to adopt the strategy according to the number of currently tracked satellites, after the satellite delayed use strategy, firstly, whether the delayed public satellite has the GEO satellite is judged, if not, the Beidou GEO satellite selection strategy is completed, and if so, the step S405 is executed;
s405: the server judges whether the number of the Beidou satellites reaches the standard, namely judges whether the number of the satellites under the Beidou satellite system in the public satellites except the GEO satellites in the delayed public satellites is larger than or equal to a third preset threshold value or not, if the number of the satellites is smaller than or equal to the third preset threshold value, the Beidou GEO satellite selection strategy is completed, and if the number of the satellites is larger than or equal to the third preset threshold value, the step S406 is executed;
s406: the server judges whether the number of the whole satellites reaches the standard, namely whether the number of the public satellites except the GEO satellites in the delayed public satellites is larger than or equal to a fourth preset threshold value or not, if the number of the public satellites is smaller than the fourth preset threshold value, a Beidou GEO satellite selection strategy is completed, and if the number of the public satellites is larger than or equal to the fourth preset threshold value, the step S407 is executed;
s407: the server deletes the GEO satellite;
s408: and the server rearranges the observation data of the rest public satellites after deletion to finish the Beidou GEO satellite selection strategy.
For example, in practical application, for the condition that whether the number of the Beidou satellites reaches the standard or not, at least more than 2 Beidou satellites are required after the GEO satellites are removed, for the condition that whether the number of the whole satellites reaches the standard or not, at least more than 7 observation satellites are required after the GEO satellites are removed, the observation data of the rest public satellites are rearranged after the deletion is completed, namely, the Beidou GEO satellite selection strategy is completed, and then the observation data of the target satellite is sent to RTK for resolving.
The satellite selection method provided by the embodiment of the invention is expanded on the basis of a conventional satellite selection strategy, and a satellite delayed use strategy and a Beidou GEO satellite selection strategy are added.
The embodiment of the invention provides a satellite selection method, which comprises the following steps: firstly, selecting public satellites belonging to a first measuring station and a second measuring station from received satellite observation data from the first measuring station and satellite observation data from the second measuring station, secondly, selecting public satellites with satellite observation data larger than or equal to a preset satellite observation data threshold value from the public satellites, and then obtaining the selected public satellites on the basis, wherein the selected public satellites are delayed in order to prevent the public satellites with unstable operation states from influencing satellite positioning accuracy, and a target satellite is selected from the delayed public satellites; that is to say, in the embodiment of the present invention, in the conventional satellite selection method, the public satellite whose operation state is unstable can be in a stable state after being delayed by delaying the selected public satellite, and finally, the target satellite is selected from the delayed public satellites, so that the public satellite is in a stable state by delaying the selected public satellite, and the positioning accuracy in the satellite navigation positioning system can be further improved.
Based on the same inventive concept, this embodiment provides a server, fig. 5 is a schematic structural diagram of the server in the embodiment of the present invention, and as shown in fig. 5, the server includes: a processor 51, a memory 52 and a communication bus 53; wherein, the communication bus 53 is used for realizing the connection communication between the processor 51 and the memory 52; the processor 51 is configured to execute the satellite selection program stored in the memory to implement the following steps:
receiving satellite observations from a first survey station and satellite observations from a second survey station; selecting a public satellite belonging to the first measuring station and the second measuring station from the satellite observation data of the first measuring station and the satellite observation data of the second measuring station; selecting a public satellite with satellite observation data larger than or equal to a preset satellite observation data threshold value from the public satellites; delaying the selected public satellite; and selecting a target satellite from the delayed public satellites.
In an alternative embodiment, the preset satellite observation data threshold value includes: a satellite elevation threshold or a satellite signal-to-noise threshold; selecting a public satellite with satellite observation data greater than or equal to a preset satellite observation data threshold value from public satellites, wherein the processor 51 is further configured to execute a satellite selection program to implement the following steps:
selecting a public satellite with the satellite elevation angle larger than or equal to a satellite elevation angle threshold value from the public satellites; or selecting the public satellite with the satellite signal-to-noise ratio being larger than or equal to the satellite signal-to-noise ratio threshold value from the public satellites.
In an alternative embodiment, the preset satellite observation data threshold value includes: the processor 51 is further configured to execute a satellite selection program to implement the following steps:
selecting a public satellite with the satellite elevation angle larger than or equal to a satellite elevation angle threshold value from the public satellites; and selecting the public satellite with the satellite signal-to-noise ratio being larger than or equal to the satellite signal-to-noise ratio threshold value from the public satellites with the satellite elevation angle being larger than or equal to the satellite elevation angle threshold value.
In an alternative embodiment, the processor 51 is further configured to execute a selection procedure of the satellite among the public satellites selected in the delayed manner, so as to implement the following steps:
determining delay time according to the number of the selected public satellites; according to the delay time, delaying the public satellite with unstable operation state in the selected public satellite; forming a delayed public satellite by using the delayed unstable public satellite and the selected public satellite except the delayed unstable public satellite; the public satellite with unstable operation state refers to a public satellite with tracking time less than or equal to a preset time period.
In an alternative embodiment, in determining the delay time according to the number of the selected public satellites, the processor 51 is further configured to execute a selection procedure of the satellites to implement the following steps:
if the number of the selected public satellites is larger than or equal to a first preset threshold value, determining the delay time as a first preset delay time; if the number of the selected public satellites is smaller than a first preset threshold and larger than a second preset threshold, determining the delay time as a second preset delay time; and if the number of the selected public satellites is less than or equal to a second preset threshold value, determining the delay time as a third preset delay time.
In an alternative embodiment, the processor 51 is configured to execute a selection program of the satellite stored in the memory to select a target satellite from delayed common satellites, so as to implement the following steps:
and if the geosynchronous orbit GEO satellite exists in the delayed public satellite and the public satellite except the GEO satellite in the delayed public satellite meets the preset condition, deleting the GEO satellite from the delayed public satellite and determining the rest public satellite after deletion as the target satellite.
In an alternative embodiment, in a case that a common satellite other than the GEO satellite in the delayed common satellite meets a preset condition, the processor 51 is configured to execute a selection program of the satellite stored in the memory, so as to implement the following steps:
and if the number of the satellites under the Beidou satellite system in the delayed public satellites except the GEO satellites is larger than or equal to a third preset threshold value, and the number of the public satellites except the GEO satellites in the delayed public satellites is larger than or equal to a fourth preset threshold value.
Fig. 6 is a schematic structural diagram of a computer storage medium in an embodiment of the present invention, and as shown in fig. 6, a computer storage medium 600 stores computer-executable instructions configured to execute a satellite selection method in another embodiment of the present invention.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention.
Claims (8)
1. A method for selecting a satellite, comprising:
receiving satellite observations from a first survey station and satellite observations from a second survey station;
selecting a common satellite belonging to the first measuring station and the second measuring station from the satellite observation data of the first measuring station and the satellite observation data of the second measuring station;
selecting a public satellite with satellite observation data larger than or equal to a preset satellite observation data threshold value from the public satellites;
delaying the selected public satellite;
selecting a target satellite from the delayed public satellites; wherein the content of the first and second substances,
the delayed selected public satellite comprises:
determining delay time according to the number of the selected public satellites;
according to the delay time, delaying the public satellite with unstable operation state in the selected public satellite;
forming the delayed public satellite by using the delayed unstable public satellite and the public satellite except the delayed unstable public satellite in the selected public satellite;
the public satellite with unstable operation state refers to a public satellite with tracking time less than or equal to a preset time period;
the selecting a target satellite from the delayed public satellites includes:
and if the geosynchronous orbit GEO satellite exists in the delayed public satellite and the public satellite except the GEO satellite in the delayed public satellite meets a preset condition, deleting the GEO satellite from the delayed public satellite and determining the rest public satellite after deletion as the target satellite.
2. The method of claim 1, wherein the preset satellite observation data threshold value comprises: a satellite elevation threshold or a satellite signal-to-noise threshold;
correspondingly, selecting the public satellite with the satellite observation data being more than or equal to the preset satellite observation data threshold value from the public satellites comprises the following steps:
selecting a public satellite with a satellite elevation angle greater than or equal to the satellite elevation angle threshold value from the public satellites;
or selecting the public satellite with the satellite signal-to-noise ratio being more than or equal to the satellite signal-to-noise ratio threshold value from the public satellites.
3. The method of claim 1, wherein the preset satellite observation data threshold value comprises: a satellite elevation threshold value and a satellite signal-to-noise ratio threshold value;
correspondingly, selecting the public satellite with the satellite observation data being more than or equal to the preset satellite observation data threshold value from the public satellites comprises the following steps:
selecting a public satellite with a satellite elevation angle greater than or equal to the satellite elevation angle threshold value from the public satellites;
and selecting the public satellite with the satellite signal-to-noise ratio being larger than or equal to the satellite signal-to-noise ratio threshold value from the public satellites with the satellite elevation angle being larger than or equal to the satellite elevation angle threshold value.
4. The method of claim 1, wherein determining a delay time based on the number of selected common satellites comprises:
if the number of the selected public satellites is larger than or equal to a first preset threshold value, determining the delay time as a first preset delay time;
if the number of the selected public satellites is smaller than a first preset threshold and larger than a second preset threshold, determining the delay time as a second preset delay time;
and if the number of the selected public satellites is smaller than or equal to a second preset threshold value, determining the delay time as a third preset delay time.
5. The method according to claim 1, wherein the public satellites other than the GEO satellite in the delayed public satellites satisfy a preset condition, which includes:
and if the number of the satellites under the Beidou satellite system in the delayed public satellites except the GEO satellites is larger than or equal to a third preset threshold value, and the number of the public satellites except the GEO satellites in the delayed public satellites is larger than or equal to a fourth preset threshold value.
6. A server, comprising a processor, a memory, and a communication bus;
the communication bus is used for realizing connection communication between the processor and the memory;
the processor is used for executing a selection program of the satellite stored in the memory so as to realize the following steps:
receiving satellite observations from a first survey station and satellite observations from a second survey station;
selecting a common satellite belonging to the first measuring station and the second measuring station from the satellite observation data of the first measuring station and the satellite observation data of the second measuring station;
selecting a public satellite with satellite observation data larger than or equal to a preset satellite observation data threshold value from the public satellites;
delaying the selected public satellite;
selecting a target satellite from the delayed public satellites; wherein the content of the first and second substances,
the delayed selected public satellite comprises:
determining delay time according to the number of the selected public satellites;
according to the delay time, delaying the public satellite with unstable operation state in the selected public satellite;
forming the delayed public satellite by using the delayed unstable public satellite and the public satellite except the delayed unstable public satellite in the selected public satellite;
the public satellite with unstable operation state refers to a public satellite with tracking time less than or equal to a preset time period;
the selecting a target satellite from the delayed public satellites includes:
and if the geosynchronous orbit GEO satellite exists in the delayed public satellite and the public satellite except the GEO satellite in the delayed public satellite meets a preset condition, deleting the GEO satellite from the delayed public satellite and determining the rest public satellite after deletion as the target satellite.
7. The server according to claim 6, wherein the preset satellite observation data threshold value comprises: a satellite elevation threshold or a satellite signal-to-noise threshold; selecting public satellites with satellite observation data larger than or equal to a preset satellite observation data threshold value from the public satellites, wherein the processor is used for executing a satellite selection program stored in the memory so as to realize the following steps:
selecting a public satellite with a satellite elevation angle greater than or equal to the satellite elevation angle threshold value from the public satellites;
or selecting the public satellite with the satellite signal-to-noise ratio being more than or equal to the satellite signal-to-noise ratio threshold value from the public satellites.
8. A computer storage medium having computer-executable instructions stored thereon, the computer-executable instructions being configured to perform the method of satellite selection as provided in any one of claims 1 to 5.
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